CN206049847U - Robot and its foot - Google Patents

Abstract

This utility model provides a kind of robot and its foot, design robot field, including upper lid, lower cover, motor and castor, and motor is contained in lid and lower cover connects in the shelly accommodation space to be formed, and castor is stretched out from lower cover；Motor drives castor to rotate.Robot includes foot of Liang Ge robots.Robot of the present utility model and its foot can be walked by the castor of foot of robot, are a kind of simple structure, power directly-driving, save the robot and its foot of energy.

Description

Robot and its foot

Technical field

This utility model is related to robot field, in particular to a kind of robot and its foot.

Background technology

In recent years, robot has obtained extensive utilization in our life.Such as, said in museum The robot of solution, at the restaurant in be responsible for the robot of food delivery and robot etc. of people's chat can be accompanied.Above-mentioned machine People has a common feature, is exactly that overall structure is complex, degree of integration is low.

Utility model content

In view of this, the purpose of this utility model is to overcome deficiency of the prior art, there is provided a kind of simple structure, Power directly-driving, the robot and its foot that save energy.

To solve the above problems, the first solution that this utility model is provided is as follows：

A kind of foot of robot, including upper lid, lower cover, motor and castor；

The motor is contained in the upper lid and the lower cover connects in the shelly accommodation space to be formed, and the castor is from institute Stretch out in stating lower cover；

The motor drives the castor to rotate.

Robot foot is used for the foot in robot as robot, and robot walks about by located at foot of robot Castor rotation, motor direct-drive reduces the loss in power transmission process.The mobile generation of the castor of foot of robot Replace and walked by leg curvature, eliminated the design to leg labyrinth, be a kind of moveable machine for saving energy People foot.

In the exemplary embodiment, also including driven pulley, the driven pulley is stretched out from the lower cover, and the driven pulley can Rotate relative to the lower cover.

Independent castor is not firm to the support that foot of robot walks, and also supports while as power transmission Effect.

In the exemplary embodiment, also including support wheel, the support wheel is stretched out from the lower cover, and the support wheel can Rotate relative to the lower cover, the castor, the driven pulley and support wheel distribution triangular in shape.

From the principle of 3 points of one sides, the stationarity that support wheel further enhancing foot of robot, support wheel are added It is also actually a kind of driven pulley.

In the exemplary embodiment, the upper lid and the lower cover are connected by screw, and the screw hole is under described Cover, in the screw hole, be plugged with plug, the plug is equal with the lower cap surface.

On the one hand plug is added in screw hole causes the outward appearance of foot of robot more attractive, complete, on the other hand causes Foot of robot seal degree is higher, prevents into water, enters ash, while releasing for attachment screw effectively can also be prevented.

To solve the above problems, the second solution that this utility model is provided is as follows：

A kind of robot, including foot of Liang Ge robots and the machine person, two foots of robot are by described Upper lid is connected with the machine person.

The rotation walked about by the castor located at foot of robot of robot, motor direct-drive reduce power biography Loss during passing.The movement of the castor of foot of robot instead of is walked by leg curvature, is eliminated complicated to leg The design of structure, is a kind of moveable robot for saving energy.

In the exemplary embodiment, the foot of robot also includes driven pulley, and the driven pulley is stretched from the lower cover Go out, the driven pulley can be rotated relative to the lower cover.

Independent castor is not firm to the support that foot of robot walks, and also supports while as power transmission Effect.

In the exemplary embodiment, the foot of robot also includes support wheel, and the support wheel is stretched from the lower cover Go out, the support wheel can be rotated relative to the lower cover, the castor, the driven pulley and support wheel distribution triangular in shape.

From the principle of 3 points of one sides, the stationarity that support wheel further enhancing foot of robot, support wheel are added It is also actually a kind of driven pulley.

In the exemplary embodiment, the upper lid and the lower cover are connected by screw, and the screw hole is under described Cover, in the screw hole, be plugged with plug, the plug is equal with the lower cap surface.

On the one hand plug is added in screw hole causes the outward appearance of foot of robot more attractive, complete, on the other hand causes Foot of robot seal degree is higher, prevents into water, enters ash, while releasing for attachment screw effectively can also be prevented.

In the exemplary embodiment, also including main circuit board, the main circuit board controls two robot foots respectively The operation of the motor in portion.

Two motors are controlled respectively by main circuit board, realized the different speed of travel of robot and walking side To.

In the exemplary embodiment, the main circuit board can control two motors at the same speed and differential operation respectively.

The straight trip and steering of robot are realized by the operation of synchronized and differential.When two motors are run at the same speed, robot is straight OK, when two electrode differentials run, robot turns.

Compared with prior art, its remarkable advantage is this utility model：

Robot of the present utility model and its foot can be walked by the castor of foot of robot, be a kind of simple structure, Power directly-driving, the robot and its foot that save energy.

To enable above-mentioned purpose of the present utility model, feature and advantage to become apparent from and understandable, preferred embodiment cited below particularly, And accompanying drawing appended by coordinating, it is described below in detail.

Description of the drawings

In order to be illustrated more clearly that the technical scheme of this utility model embodiment, below will be to using needed for embodiment Accompanying drawing be briefly described, it will be appreciated that the following drawings illustrate only some embodiments of the present utility model, therefore should not be by Regard the restriction to scope as, for those of ordinary skill in the art, on the premise of not paying creative work, may be used also To obtain other related accompanying drawings according to these accompanying drawings.

Fig. 1 shows a kind of decomposition texture schematic diagram of robot that this utility model embodiment is provided；

Fig. 2 shows that a kind of overall structure of the robot head of robot that this utility model embodiment is provided is illustrated Figure；

Fig. 3 shows that a kind of decomposition texture of the robot head of robot that this utility model embodiment is provided is illustrated Figure；

Fig. 4 shows that a kind of decomposition texture of the robot ear of robot that this utility model embodiment is provided is illustrated Figure；

Fig. 5 shows a kind of decomposition texture local of the robot head of robot that this utility model embodiment is provided Enlarged drawing；

Fig. 6 shows a kind of exploded structure of the robot head of robot that this utility model embodiment is provided Schematic diagram；

Fig. 7 shows that a kind of overall structure in the robot thoracic cavity of robot that this utility model embodiment is provided is illustrated Figure；

Fig. 8 shows that a kind of decomposition texture in the robot thoracic cavity of robot that this utility model embodiment is provided is illustrated Figure；

Fig. 9 shows a kind of position limiting structure schematic diagram of the arm of robot that this utility model embodiment is provided；

Figure 10 shows that a kind of overall structure of the foot of robot of robot that this utility model embodiment is provided is shown It is intended to；

Figure 11 shows that a kind of decomposition texture of the foot of robot of robot that this utility model embodiment is provided shows It is intended to.

Main element symbol description：

10- robots ear；11- ear bodies；The first hole positions of 111-；The second hole positions of 112-；113- light penetrating rings；114、 3411- light-guiding pillars；115th, 3421- boss；12- end caps；121- connecting poles；122nd, 391- claws；123- push rods；20- robots Head；21- protecgulums；211st, 311- front bayonet slots；The square draw-in grooves of 212-；213- heat sinks；22- bonnets；221st, draw-in groove after 321-； 23- main circuit boards；231- data-interfaces；24- switching circuit boards；241st, 351- switches；242nd, 352- luminescence units；25- shows Screen；26- transparent protective covers；27- is covered；28- axle journals；281st, 411- draw-in grooves；30- robots thoracic cavity；31- fronts chamber；3111、 3211- locating parts；312- spherical shells；32- breast back cavities；322- balls；323rd, 421- screw holes；3231st, 4211- plugs；33- handss Arm；331- rotating shafts；332- ring flanges；3321- baffle plates；34- buttons；341- button bodies；3412- chutes；342- button bodies；35- Sound circuit plate；351- is switched；352- luminescence units；36- legs；37- audio amplifiers；38- batteries；39- pressing plates；40- robot foots Portion；Cover on 41-；411- draw-in grooves；42- lower covers；43- motors；44- castors；45- driven pulleys；451st, 461- bar shaped grooves；452、 462- connectors；46- support wheels；100- robots.

Specific embodiment

For the ease of understanding this utility model, robot and its foot are carried out more fully below with reference to relevant drawings Description.The preferred embodiment of robot and its foot is given in accompanying drawing.But, robot and its foot can be by many not With form realizing, however it is not limited to embodiment described herein.On the contrary, the purpose for providing these embodiments is made to machine The disclosure of device people and its foot is more thorough comprehensive.

It should be noted that when element is referred to as " being fixed on " another element, it can directly on another element Or can also there is element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to To another element or may be simultaneously present centering elements.Conversely, when element be referred to as " directly existing " another element " on " when, There is no intermediary element.Term as used herein " vertical ", " level ", "left", "right" and similar statement are For illustrative purposes.

Unless otherwise defined, all of technology used herein and scientific terminology are led with technology of the present utility model is belonged to The implication that the technical staff in domain is generally understood that is identical.Herein in the term used in the description of robot and its foot It is for the purpose for describing specific embodiment, it is not intended that limit this utility model.Term as used herein " and/or " bag Include the arbitrary and all of combination of one or more related Listed Items.

Below in conjunction with the accompanying drawings, specific embodiment of the present utility model is elaborated.

Embodiment

Fig. 1, Fig. 2 and Fig. 3 are seen also, robot 100 includes robot head 20, robot thoracic cavity 30 and machine People foot 40.Robot head 20 is connected to the two ends in robot thoracic cavity 30 with foot of robot 40.Robot head 20 includes Protecgulum 21, bonnet 22, robot ear 10 and main circuit board 23.Main circuit board 23 is contained in protecgulum 21 and the connection of bonnet 22 is formed Shelly accommodation space in, Liang Ge robots ear 10 is located at the junction of protecgulum 21 and bonnet 22.Main circuit board 23 is responded often The input operation control robot 100 of one robot ear 10 performs corresponding output.

See also Fig. 4 and Fig. 5, robot ear 10, it includes ear body 11 and end cap 12.On ear body 11 At least one first hole positions 111 are provided with, end cap 12 is provided with the connecting pole 121 equal with 111 quantity of the first hole position.In this enforcement In example, the quantity of the first hole position 111 is three.Connecting pole 121 is provided with claw 122.First hole is inserted in by connecting pole 121 In position 111,111 clamping of claw 122 and the first hole position.Push rod 123 is additionally provided with end cap 12, push rod 123 is located at same with claw 122 Simultaneously go up, ear body 11 is provided with the second hole position 112, push rod 123 passes through the second hole position 112.

Robot ear 10 is used for the ear in robot as robot, is made up of two parts, by claw 122 Structure causes end cap 12 while being connected with ear body 11, and can float relative to ear body 11.Connect on end cap 12 Push rod 123 just to so as to reaching the effect for pressing that end cap 12 realizes Push switch, being a kind of near switch (being mentioned below) Integrate the robot ear 10 of ear and switching function.

In the present embodiment, 12 body of end cap is rounded, and three 121 even circumferentials of connecting pole are distributed in the end face of end cap 12 On, push rod 123 is located at the center of end cap 12.Circular groove size on ear body 11 is matched with the size of end cap 12, i.e., Slightly larger than the size of end cap 12.Three the first hole positions 111, three the first hole positions are additionally provided with the circular groove of ear body 11 111 is identical with the distribution mode of three connecting poles 121.Second hole position 112 is located at the centre of three the first hole positions 111, push rod 123 May pass through the second hole position 112.

In the present embodiment, end cap 12 is rounded, and ear body 11 is provided with circular groove, and end cap 12 is embedded in circular groove In, and the outer surface of end cap 12 is consistently lower than the outer surface of ear body 11.

Circular 12 outward appearance of end cap is more attractive in appearance, its mellow and full structure, in assembling and end cap 12 relative to ear body Wear and tear less during 11 floatings, extend service life.The surface of end cap 12 is prevented less than the outer surface of ear body 11 The situation of undesirable startup is caused to occur end cap 12 is touched by mistake.

It is appreciated that above-mentioned round end cap 12 is a kind of preferable embodiment, the shape of end cap 12 can also be Oval, the even irregular shape of polygon, the change of shape of the groove fit end cap 12 on corresponding ear body 11.

Specifically, cambered surface of 12 surface of end cap in indent.

12 surface of end cap of indent further prevents touching by mistake to end cap 12, and the end cap 12 of arc surfaced is more attractive in appearance, Operation is more comfortable when pressing, and meets ergonomics.

In the present embodiment, the first hole position 111 is circular hole, and connecting pole 121 is in two-piece type structure, and the slice structure is variable Shape.

The deformable of slice structure is slice structure and has elasticity, and connecting pole 121 is inserted in the first hole position 111 When, two-piece type structure toe-in so that the connecting pole 121 with claw 122 can inject the first hole position 111, after insertion, two panels Formula construction rebound so that the connecting pole 121 with claw 122 is connected in the first hole position 111, need to add external force by connecting pole 121 are separated with the first hole position 111.When end cap 12 is separated with ear body 11, the deformation of two-piece type structure with connecting pole 121 is inserted It is identical when entering in the first hole position 111.The simple structure, is convenient to mount and dismount, with reliable connection effect.

Specifically, the two-piece type structure of connecting pole 121 is two shell fragments for having gap, and the present embodiment is two plastics bullets Piece, during normality, two panels shell fragment is separated, and during deformation, two panels shell fragment is gathered, can also on the shell fragment that claw 122 is located therein Simultaneously on two shell fragments.It is appreciated that connecting pole 121 can also be multiple-piece construction, it is every with deformation interface arrangment Connecting pole 121 belong to the protection domain of this patent.In the present embodiment, ear body 11 is provided with light penetrating ring 113, printing opacity Ring 113 is surrounded on end cap 12.

Light penetrating ring 113 is surrounded with around end cap 12, upon actuation, light penetrating ring 113 can be lighted.Light penetrating ring 113 has While decorative effect, the effect of also one prompting allows an operator to the startup and work of more intuitive observer robot State.

In the present embodiment, light penetrating ring 113 is provided with least one light-guiding pillar 114.

Above-mentioned, due to the restriction in 10 structure of robot ear, light source is difficult to be directly arranged on light penetrating ring 113, causes light Diffusion in the air, scattering cause substantial amounts of optical energy loss, and the light traveled on light penetrating ring 113 is simultaneously few.Light penetrating ring 113 Light-guiding pillar 114 is provided with, light-guiding pillar 114 is arranged near light source, reduces energy loss of the light in communication process so that printing opacity The translucent effect of ring 113 is more preferable.

Ear body 11 is provided with four light-guiding pillars 114, and four 114 even circumferentials of light-guiding pillar are distributed in light penetrating ring 113 On, it will be understood that light-guiding pillar 114 can also be other quantity and distribution, and every part with light guide effect each falls within this The protection domain of patent.

It should be noted that the material of light-guiding pillar 114 is transparent material, the outer surface in its alternatively non-transparent face can select cloudy surface, Reduce loss of the light in communication process.Ear body 11 is integral type structural member, and its entirety is made up of transparent plastic material, Light penetrating ring 113 is the annular boss on ear body 11.After being connected with end cap 12, light penetrating ring 113 reveals from around end cap 12 Go out, so as to produce the effect of printing opacity.

In the present embodiment, light-guiding pillar 114 is in prism-shaped, and the cross section of light-guiding pillar 114 is cross.

During the light-guiding pillar 114 of prism-shaped causes light to propagate wherein, transmit to light penetrating ring through refraction, reflection etc. Performance more preferably, the spotlight effect of criss-cross prism is more preferable.The light-guiding pillar 114 of prism-shaped is equivalent to the leaded light with reflection rib Post 114.It is appreciated that except adopting cross section in addition to criss-cross prism, light-guiding pillar 114 can also be in triangular prism shape.

Specifically, end cap 12 is integral type structural member, and its material is nontransparent rigid plastics material, can adopt and be molded into Type.

Robot head 20, it includes protecgulum 21, bonnet 22, robot ear 10 and main circuit board 23.Main circuit board 23 It is contained in the shelly accommodation space that protecgulum 21 and the connection of bonnet 22 are formed, Liang Ge robots ear 10 is located at protecgulum 21 and bonnet 22 junction.Main circuit board 23 responds the input operation control robot 100 of each robot ear 10 and performs corresponding output.

Robot head 20 is used for the head in robot 100 as robot 100, by protecgulum 21 and bonnet 22 two Divide the profile for constituting robot head, and form shelly accommodation space.Multiple functional modules can be set on main circuit board 23, be used In each action of control robot 100, robot ear 10 as switch, for sending control signal to main circuit board 23, is A kind of simple structure, structure and the higher robot head 20 of functional integration.

The joint face ovalize of protecgulum 21 and bonnet 22 in shelly, protecgulum 21 and bonnet 22, the end face of protecgulum 21 is in flat Planar, the spherical shape of end face of bonnet 22.Protecgulum 21 and bonnet 22 are the integral structural member of plastic material, by being molded into Type.

In the present embodiment, the symmetrical two ends located at robot head 20 of Liang Ge robots ear 10, protecgulum 21 are provided with Front bayonet slot 211, bonnet 22 are provided with rear draw-in groove 221.Ear body 11 is stuck in front bayonet slot 211 and rear draw-in groove 221 simultaneously.Protecgulum Front bayonet slot 211 on 21 be semicircle ring groove, the rear draw-in groove 221 on bonnet 22 be semicircle ring groove, two semicircle ring groove groups Into a complete ring groove.The circular in cross-section of ear body 11, the circular diameter are less than 211 He of above-mentioned front bayonet slot Afterwards draw-in groove 221 composition ring groove diameter.Boss 115 is additionally provided with ear body 11, added with the ear sheet of the boss 115 The equal diameters of the ring groove that the diameter of body 11 is constituted with front bayonet slot 211 and rear draw-in groove 221.By above-mentioned, ear body 11 It is connected on protecgulum 21 and bonnet 22, so that robot ear 10 is connected on robot head 20.

Earphone device people ear 10 is fixed by front bayonet slot 211 and rear draw-in groove 221, then protecgulum 21 and bonnet 22 are connected Connect, there is no being directly connected to for robot ear 10 and protecgulum 21 and bonnet 22, installation position need not be processed, while also simplify machine The dismounting of the installation of device people ear 10.

Protecgulum 21 and bonnet 22 are connected by clamping, are the reliability for ensureing the two connection, can be added mode connects for screw.

Robot head 20 also includes switching circuit board 24, and switching circuit board 24 is electrically connected with main circuit board 23.Push rod 123 with switch 241 just to close, in the present embodiment, push rod 123 is contacted with switching 241.123 pull switch 241 of push rod is closed, Switching circuit board 24 sends the enabled instruction of robot 100 to main circuit board 23.

Above-mentioned, at ear body 11, switching circuit board 24 is mainly as a startup function for switching circuit board 24 Module sends enabled instruction to main circuit board 23, and by pressing 10 Push switch 241 of mobile robot ear, switch 241 is by switch Circuit board 24 sends enabled instruction to main circuit board 23.Adding switching circuit board 24 causes the functional module of main circuit board 23 to divide Come, the processing speed of independent control is fast, and the internal memory for taking main circuit board 23 is little.

Switch 241 is a kind of self-resetting switch, when an external force is applied on end cap 12, the push rod linked on end cap 12 123 Push switches 241, switch 241 are closed；When the external force for applying end cap 12 disappears, switch 241 resets again by push rod 123 Pushed home, preparation pressing next time.

Robot head 20 also includes luminescence unit 242, and luminescence unit 242 is electrically connected with switching circuit board 24, is switched During 241 closure, luminescence unit 242 is lighted, and the end face of light-guiding pillar 114 is contacted with luminescence unit 242.In order to obtain more preferable leaded light Effect, the end face of light-guiding pillar 114 is just to luminescence unit 242.

Above-mentioned, due to the restriction in 10 structure of robot ear, luminescence unit 242 is difficult to be directly arranged on light penetrating ring 113, Cause light diffusion in the air, scattering to cause substantial amounts of optical energy loss, travel to light on light penetrating ring 113 few, thoroughly The ring of light 113 is provided with light-guiding pillar 114, light-guiding pillar 114 and 242 directly contact of luminescence unit, reduces light in communication process Energy loss so that the translucent effect of light penetrating ring 113 is more preferable.

In the present embodiment, luminescence unit 242 is light emitting diode, i.e. LED, the power of luminescence unit 242 and luminous Color can be voluntarily selected according to actually used demand, and the quantity of luminescence unit 242 is equal with the quantity of light-guiding pillar 114, each to lead Light beam 114 is contacted with a luminescence unit 242.

Robot head 20 also includes display screen 25, and display screen 25 is located at 21 Inner Front End of protecgulum, display screen 25 and main circuit Plate 23 is electrically connected with, 23 control display screen of main circuit board, 25 display information.Display screen 25 is in tabular, and display screen 25 is by square Draw-in groove 212 is on protecgulum 21.Heat sink 213 is additionally provided with protecgulum 21, the heat sink 213 is used for the radiating of display screen 25, makes Display screen 25 has preferable radiating effect.Transparent protective cover 26 is additionally provided with the outside of protecgulum 21, transparent protective cover 26 is used to protect Shield display screen 25, makes the structure of display screen 25 more complete, more firm.In the present embodiment, display screen 25 is mutual with main circuit board 23 Vertical distribution.Display screen 25 is connected on the inside of protecgulum 21.

By adding the function more diversification that display screen 25 causes robot head 20 in robot head 20, depending on showing more Intuitively, the interaction of robot and user can be strengthened, the experience sense for using is more preferable.

As shown in figure 5, at least one data-interface 231, each data-interface 231 are also electrically connected with main circuit board 23 Expose from bonnet 22.In the present embodiment, bonnet 22 is provided with USB interface, HDMI and Micro USB interface.Three data Interface 231 is embedded in bonnet 22, is provided with capping 27 in the outside of three data-interfaces 231, and capping 27 is removable with bonnet 22 Unload connection.

Robot can be charged by data-interface 231, the reading and write of data.Different types of number can be added According to interface 231 realizing different functions and different connecting objects.

See also Fig. 7 and Fig. 8, robot thoracic cavity 30, including front chamber 31, breast back cavity 32 and arm 33.Front chamber 31 are provided with front bayonet slot 311, and breast back cavity 32 is provided with rear draw-in groove 321.33 end of arm is provided with cylinder-shaped shaft 331, rotating shaft 331 On be connected with ring flange 332, ring flange 332 is embedded in front bayonet slot 311 and rear draw-in groove 321, and arm 33 can pass through 331 turns of rotating shaft It is dynamic.

Above-mentioned, robot thoracic cavity 30 is used for the body in robot as robot, by 32 liang of front chamber 31 and breast back cavity Part constitutes the profile in robot thoracic cavity 30.Ring flange 332 is embedded in by front bayonet slot 311 and rear draw-in groove 321, then by breast Ante-chamber 31 and breast back cavity 32 connect, and there is no arm 33 and are connected by additional connector with front chamber 31 and breast back cavity 32, need not Processing installation position, while also simplify the dismounting of the installation of arm 33.

Front chamber 31 and breast back cavity 32 are in shelly, and front chamber 31 and breast back cavity 32 are semielliptical.It is connected with breast back cavity 32 Two balls 322, are connected with two spherical shells 312 on front chamber 31, when front chamber 31 and breast back cavity 32 connect, ball 322 is embedding The leg 36 of robot is constituted in entering spherical shell 312.The profile in robot thoracic cavity 30 is similar with the body of penguin.31 He of front chamber Breast back cavity 32 is the integral structural member of plastic material, by injection mo(u)lding.

As shown in figure 9, front bayonet slot 311 is provided with locating part 3111, rear draw-in groove 321 is provided with locating part 3211, with arm to It it is down 90 °, two locating parts 3111,3211 limit arm and rotate in the range of 0 ° -180 °.Specifically, ring flange 332 is provided with Baffle plate 3321.When ring flange 332 is rotated, when baffle plate 3321 turns to locating part 3111,3211, ring flange 332 is limited It is rotated further, so as to limit the rotational angle of arm.

Arm 33 is swung in the range of 0 ° -180 °, and the orientation angle that arm 33 swings is relatively easy to control, there is no full-shape Degree is uncontrollable when rotating, and more similar to the hunting range of human arm 33, emulator is higher.

The symmetrical two ends located at robot thoracic cavity 30 of two arms 33, front chamber 31 are provided with front bayonet slot 311, with rear card 321 structure phase of groove, breast back cavity 32 are provided with rear draw-in groove 321.Front bayonet slot 311 and rear draw-in groove 321 are in shelly, and the two section is length It is square.Ring flange 332 is a discoid body with diameter greater than rotating shaft 331, locating part 3111, the front bayonet slot on 3211 surfaces to shelly 311 and 321 top surface of rear draw-in groove distance be equal to ring flange 332 thickness, it is therefore prevented that arm 33 connect after play.Front chamber 31 Each semicircle groove is set with breast back cavity 32, rotating shaft 331 is fixed on wherein by two semicircle grooves.Ring flange 332 and rotating shaft 331 Structure cause arm 33 while being connected with robot thoracic cavity 30, additionally it is possible to rotate.

Front chamber 31 and breast back cavity 32 are connected by screw, and in the present embodiment, screw hole 323 is on breast back cavity 32.Spiral shell It is plugged with plug 3231 in nail 323, plug 3231 is equal with the surface in robot thoracic cavity 30.Plug 3231 is filling in screw hole When in 323, deform, along with an elastic-restoring force is produced, screw hole 323 is compressed and produces sealing by elastic-restoring force Effect.

On the one hand plug 3231 is added in screw hole 323 causes the outward appearance in robot thoracic cavity 30 more attractive, complete, another Aspect causes 30 seal degree of robot thoracic cavity higher, prevents into water, enters ash, while the pine of attachment screw effectively can also be prevented It is de-.

Robot thoracic cavity 30 also includes button 34 and sound circuit plate 35, and sound circuit plate 35 is contained in front chamber 31 and breast In the shelly accommodation space that the connection of back cavity 32 is formed, two arms 33 are located at the junction of front chamber 31 and breast back cavity 32.Button 34 on the surface in front chamber 31, the input operation of 35 response button 34 of sound circuit plate, and sends control to main circuit board 23 Signal processed, performs corresponding output so as to control robot 100.

Sound circuit plate 35 is electrically connected with main circuit board 23, on sound circuit plate 35 in addition to it can arrange phonetic function, also This other functional unit can be set, by the Voice command independent control of robot 100, robot 100 is effectively reduced and is led The EMS memory occupation of circuit board 23, accelerates the processing speed of main circuit board 23.

Button 34, in other examples, is pressed similar to the position of the heart of human body located at the upper right side in front chamber 31 Button 34 can also be located at other positions.Button 34 includes button body 341 and button body 342, and button body 342 can relative key body 341 slide；Sound circuit plate 35 is provided with switch 351, and button body 342 is contacted with switch 341.

Button 34 is connected by functional module of the sound circuit plate 35 mainly as a phonetic entry by button body 341 It is connected on robot thoracic cavity 30, by the directly contact of button body 342 and switch 351 come the closed and disconnected of controlling switch 351, increases The big area of switch 351, the experience sense for using are higher.

Switch 351 is a kind of self-resetting switch, and when button body 342 is pressed, link Push switch 351, and switch 351 is closed, so Switch 351 resets 342 pushed home of button body again afterwards, preparation pressing next time.

Sound circuit plate 35 is provided with luminescence unit 352, and button body 341 is provided with light-guiding pillar 3411；Light-guiding pillar 3411 Contact with luminescence unit 352, light-guiding pillar 3411 is provided with chute 3412；Button body 342 is slided on chute 3412, and button body 342 has There is light transmission.

Due to the restriction in 34 structure of button, luminescence unit 352 is difficult to be directly arranged in button body 342, causes light propagating In diffusion, scattering cause substantial amounts of optical energy loss, travel to light in button body 342 few, button body 341 is provided with Light-guiding pillar 3411, light-guiding pillar 3411 are arranged near luminescence unit 352, reduce energy loss of the light in communication process so that The light for appearing of button body 342 is higher.

Luminescence unit 352 is light emitting diode, i.e. LED, and the power and glow color of luminescence unit 352 can be according to realities Border use demand is voluntarily selected, and the quantity of luminescence unit 352 is equal with the quantity of light-guiding pillar 3411, each light-guiding pillar 3411 with One luminescence unit 352 is contacted.

Button body 342 is rounded, is that circular hollow out is used to place button body 342 in the middle part of button body 341.On button body 341 Two light-guiding pillars 3411 are provided with, on two light-guiding pillars 3411, it are respectively provided with a chute 3412, button body 342 is respectively arranged at the two ends with one Boss 3421, boss 3421 are engaged with chute 3412 so that 342 relative key body 341 of button body slides.Button body 341 Part in addition to light-guiding pillar 3411 is nontransparent material, and button body 342 is made up of transparent material, can add in button body 342 The mark of characteristic, such as product LOGO etc., light are appeared from button body 342.Button body 341 is connected by screw with front chamber 31, Due to the spherical shape in the surface in front chamber 31, the still spherical shape of 31 surface of front chamber after button 34 has been added, thus button sheet The surface of body 341 and the surface of button body 342 are also into dome shape.

In the exemplary embodiment, light-guiding pillar 3411 is in prism-shaped.

During the light-guiding pillar 3411 of prism-shaped causes light to propagate wherein, transmit to button body through refraction, reflection etc. 342 performance is more preferable., equivalent to the light-guiding pillar 3411 with reflection rib, the spotlight effect of prism is more for the light-guiding pillar 3411 of prism-shaped It is good.

Robot thoracic cavity 30 also includes audio amplifier 37, and audio amplifier 37 is located at the shelly appearance that front chamber 31 and the connection of breast back cavity 32 are formed In being empty, breast back cavity 32 is provided with loud-speaker opening (not shown).Loud-speaker opening is the multiple manholes on breast back cavity.

Audio amplifier 37 is the sound source of robot 100, makes the function more diversification of robot, and loud-speaker opening is located at breast back cavity 32 On the aesthetic property in robot thoracic cavity 30 is not also affected while the diffusion of sound is contributed to.

Robot thoracic cavity 30 also includes battery 38, and battery 38 is located at the shelly appearance that front chamber 31 and the connection of breast back cavity 32 are formed In being empty.

, for powering to robot 100, the volume of battery 38 is larger for battery 38, and robot thoracic cavity 30 is used as robot 100 Larger ingredient in composition, battery 38 is the most reasonable in robot thoracic cavity 30, and robot thoracic cavity 30 is in machine The overall position of people partially under, the larger battery 38 of quality is located therein, also so that the center of gravity of 100 entirety of robot is in middle and lower part Position so that the standing of robot 100 is more stable.

In the present embodiment, audio amplifier 37 is connected directly between on breast back cavity 32, and battery 38 is arranged in juxtaposition with audio amplifier 37, by pressing plate 39 and two screws the position of battery 38 is fixed.

The bonnet 22 of robot head 20 is provided with circular axle journal 28, and on the axle journal 28, circumference is provided with strip-shaped clamp groove 281.Machine Device people thoracic cavity 30 is provided with claw 391, on 391 clamping of claw and draw-in groove 281, so as to by robot head 20 and robot thoracic cavity 30 link together.

See also Figure 10 and Figure 11, foot of robot 40, including upper lid 41, lower cover 42, motor 43 and castor 44.Electricity Machine 43 is contained in the shelly accommodation space that lid 41 and the connection of lower cover 42 are formed, and castor 44 is stretched out from lower cover 42；Motor 43 Castor 44 is driven to rotate.

It is above-mentioned, housing of the upper lid 41 for arc surfaced, lower cover 42 is in tabular.The robot of upper lid 41 and the composition of lower cover 42 Profile of the profile of foot 40 similar to mouse.Motor 43 is located at the interior volume that upper lid 41 and lower cover 42 are constituted, and motor 43 is straight Connect and be connected with castor 44, in the present embodiment, the quantity of castor 44 is one, and in other examples, the quantity of castor 44 can Think two or three.

Robot foot 40 is used for the foot in robot as robot, and robot walks about by located at robot foot The rotation of the castor 44 in portion 40, motor 43 directly drive, and reduce the loss in power transmission process.The foot of foot of robot 40 The movement of wheel 44 instead of is walked by leg curvature, eliminates the design to leg labyrinth, is a kind of moveable, section The about foot of robot 40 of energy.

Foot of robot 40 also includes driven pulley 45, and driven pulley 45 is stretched out from lower cover 42, and driven pulley 45 can be with respect to lower cover 42 rotate.Driven pulley 45 is a kind of wheel for not having and driving, and when castor 44 is rotated, the position of foot of robot 40 occurs to become Change, driven pulley 45 is so as to rotating.The bar shaped groove 451 matched with 45 size of driven pulley is provided with lower cover 42, it is driven Wheel 45 is stretched out from the bar shaped groove 451.Driven pulley 45 is connected on connector 452, and connector 452 is connected by screw under On lid 42.

Independent castor 44 is not firm to the support that foot of robot 40 walks, and driven pulley 45 is as powerdriven same When the effect that also supports.

Foot of robot 40 also includes support wheel 46, and support wheel 46 is stretched out from lower cover 42, and support wheel 46 can be with respect to lower cover 42 rotate, castor 44,46 distribution triangular in shape of driven pulley 45 and support wheel.Support wheel 46 is also a kind of wheel for not having and driving, When castor 44 is rotated, the position of foot of robot 40 changes, and support wheel 46 is so as to rotating.It is provided with lower cover 42 The bar shaped groove 461 matched with 46 size of support wheel, support wheel 46 are stretched out from the bar shaped groove 461.Support wheel 46 connects On connector 462, connector 462 is connected by screw on lower cover 42.

Foot of robot 40 is the strong point of whole robot, therefore the steady shape of foot of robot 40 is even more important, by The principle of 3 points of one sides understands that add the stationarity that support wheel 46 further enhancing foot of robot 40, support wheel 46 is actual It is also a kind of driven pulley.

Motor 43 is in strip, and castor 44 is connected to an end of motor 43, thus castor 44 is relative to lower cover 42 The edge of rear end is located proximate to, driven pulley 45 is located near another edge of 42 rear end of lower cover, and support wheel 46 is located at lower cover 42 The middle part of front end.

Upper lid 41 and lower cover 42 are connected by screw, and screw hole 421 is plugged with screw hole 421 on the lower cover 42 Plug 4211, plug 4211 are equal with 42 surface of lower cover.Plug 4211 deforms when filling in screw hole 421, is accompanied by An elastic-restoring force is produced, screw hole 421 is compressed elastic-restoring force the effect for producing sealing.

On the one hand plug 4211 is added in screw hole 421 causes the outward appearance of foot of robot 40 more attractive, complete, another Aspect causes 40 seal degree of foot of robot higher, prevents into water, enters ash, while the pine of attachment screw effectively can also be prevented It is de-.

Upper lid 41 is provided with draw-in groove 411, and the leg 36 in robot thoracic cavity 30 is provided with claw (not shown), by mistake The clamping of draw-in groove 411 and claw, foot of robot 40 is connected on robot thoracic cavity 30, forms a complete robot 100。

Main circuit board 23 controls the operation of the motor 43 of foot of Liang Ge robots 40 respectively.Main circuit board 23 is supplied to motor 43 Electricity, by the electric current for being input into different size and direction so that motor 43 produces different size of rotating speed and different rotation directions, The different rotating speed of castor 44 and rotation direction are reached with this.Controlled by 23 pairs of two motors 43 of main circuit board respectively, Realize the different speed of travel of robot 100 and direction of travel.

Specifically, main circuit board 23 can control two motors 43 at the same speed and differential operation respectively.

The straight trip and steering of robot 100 are realized by the operation of synchronized and differential.During two 43 synchronized operations of motor, machine People 100 keeps straight on, and when two 43 differentials of motor run, robot 100 turns.43 rotating speed of motor such as the left side is more than the right motor 43 Rotating speed, then robot 100 turn right；As the left side 43 rotating speed of motor less than the right motor 43 rotating speed, then robot 100 to Turn left.Different turning radius may also reach up by different speed discrepancies, differential is bigger, and turning radius is less, and differential is less, Turning radius is bigger.One more special situation a, when motor 43 does not turn, it is possible to achieve pivot stud.

Robot mainly includes robot head, robot thoracic cavity and foot of robot, its simple structure, and band There is the robot ear of collection decoration and function integration, be that a kind of construction is simple, the robot that degree of integration is high.

In all examples being illustrated and described herein, any occurrence should be construed as merely exemplary, and not Be as restriction, therefore, other examples of exemplary embodiment can have different values.

It should be noted that：Similar label and letter represent similar terms in following accompanying drawing, therefore, once a certain Xiang Yi It is defined in individual accompanying drawing, then in subsequent accompanying drawing which further need not be defined and is explained.

Embodiment described above only expresses several embodiments of the present utility model, and its description is more concrete and detailed, But therefore can not be interpreted as the restriction to this utility model the scope of the claims.It should be pointed out that common for this area For technical staff, without departing from the concept of the premise utility, some deformations and improvement can also be made, these all belong to In protection domain of the present utility model.Therefore, the protection domain of this utility model patent should be defined by claims.

Claims (10)

1. a kind of foot of robot, it is characterised in that including upper lid, lower cover, motor and castor,

The motor is contained in the upper lid and the lower cover connects in the shelly accommodation space to be formed, and the castor is under described Stretch out in lid；

The motor drives the castor to rotate.

2. foot of robot according to claim 1, it is characterised in that also including driven pulley, the driven pulley is from described Stretch out in lower cover, the driven pulley can be rotated relative to the lower cover.

3. foot of robot according to claim 2, it is characterised in that also including support wheel, the support wheel is from described Stretch out in lower cover, the support wheel can be rotated relative to the lower cover, the castor, the driven pulley and the support wheel are in triangle Shape is distributed.

4. foot of robot according to claim 1, it is characterised in that the upper lid and the lower cover are by screw company Connect, the screw hole is plugged with plug on the lower lid in the screw hole, the plug is equal with the lower cap surface.

5. a kind of robot, it is characterised in that including two foots of robot as claimed in claim 1 and the machine person, Two foots of robot are connected with the machine person by the upper lid.

6. robot according to claim 5, it is characterised in that the foot of robot also includes driven pulley, it is described from Driving wheel is stretched out from the lower cover, and the driven pulley can be rotated relative to the lower cover.

7. robot according to claim 6, it is characterised in that the foot of robot also includes support wheel, described Support wheel is stretched out from the lower cover, and the support wheel can be rotated relative to the lower cover, the castor, the driven pulley and described The distribution triangular in shape of support wheel.

8. robot according to claim 5, it is characterised in that the upper lid and the lower cover are connected by screw, institute Screw hole is stated on the lower lid, plug in the screw hole, is plugged with, the plug is equal with the lower cap surface.

9. robot according to claim 5, it is characterised in that also including main circuit board, the main circuit board is controlled respectively The operation of the motor of two foots of robot of system.

10. robot according to claim 9, it is characterised in that the main circuit board can control two electricity respectively Machine is synchronized and differential runs.